用python写一个车道线检测算法
时间: 2024-06-09 10:07:31 浏览: 113
好的,下面是一个简单的车道线检测算法的 Python 实现,使用的是 OpenCV 库:
```python
import cv2
import numpy as np
# 设置 ROI 区域
def region_of_interest(img, vertices):
mask = np.zeros_like(img)
# 填充 ROI 区域为白色
cv2.fillPoly(mask, vertices, 255)
# 取原图和掩码的交集
masked_img = cv2.bitwise_and(img, mask)
return masked_img
# 霍夫变换检测直线
def hough_lines(img, rho, theta, threshold, min_line_len, max_line_gap):
lines = cv2.HoughLinesP(img, rho, theta, threshold, np.array([]), minLineLength=min_line_len, maxLineGap=max_line_gap)
return lines
# 将检测到的直线画在原图上
def draw_lines(img, lines, color=[0, 0, 255], thickness=2):
for line in lines:
for x1, y1, x2, y2 in line:
cv2.line(img, (x1, y1), (x2, y2), color, thickness)
# 车道线检测
def detect_lanes(img):
# 灰度化
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
# 高斯模糊
blur = cv2.GaussianBlur(gray, (5, 5), 0)
# 边缘检测
edges = cv2.Canny(blur, 50, 150)
# ROI 区域
height, width = img.shape[:2]
vertices = np.array([[(0, height), (width // 2, height // 2), (width, height)]], dtype=np.int32)
masked_edges = region_of_interest(edges, vertices)
# 霍夫变换检测直线
rho = 2
theta = np.pi / 180
threshold = 15
min_line_len = 40
max_line_gap = 20
lines = hough_lines(masked_edges, rho, theta, threshold, min_line_len, max_line_gap)
# 将检测到的直线画在原图上
lane_img = np.zeros_like(img)
draw_lines(lane_img, lines)
return lane_img
# 测试
if __name__ == '__main__':
img = cv2.imread('test.jpg')
lane_img = detect_lanes(img)
result = cv2.addWeighted(img, 0.8, lane_img, 1, 0)
cv2.imshow('result', result)
cv2.waitKey(0)
cv2.destroyAllWindows()
```
算法的大致流程如下:
1. 将原图转换为灰度图像。
2. 对灰度图像进行高斯模糊。
3. 对模糊后的图像进行 Canny 边缘检测。
4. 根据车道线位置设置 ROI 区域,只保留 ROI 区域内的边缘检测图像。
5. 对 ROI 区域内的边缘检测图像进行霍夫变换检测直线。
6. 将检测到的直线画在一个空图像上,形成车道线。
7. 将原图和车道线图像进行融合,得到最终结果。
需要注意的是,车道线检测算法对图像的分辨率和光照条件比较敏感,需要根据实际情况进行调整。
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